Sutter Instrument TRIO MP-245A Operation Manual

TRIO™ MP-245A

Three-Axis Motorized

Micromanipulator System

Operation Manual

With Synthetic Fourth “D” Axis and

USB Interface for External Control

Rev. 3.12b (20191001)

One Digital Drive

Voice: 415-883-0128 Web: www.sutter.com
Fax: [phone] Email: [e-mail]

Novato, CA 94949

2

(The picture on the cover page shows a TRIO MP-245A ROE/controller and a TRIO MP-245/M

micromanipulator. The Sutter Instrument IPA Headstage shown mounted on the micromanipulator is not

included in the TRIO MP-245A Series system.)

Copyright © 2019 Sutter Instrument Company. All Rights Reserved.

TRIO™ is a trademark of Sutter Instrument Company.

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DISCLAIMER

The TRIO MP-245A consists of one electromechanical micromanipulator device and one ROE
(Rotary Optical Encoder) with integrated controller. The purpose of the system is for the
manipulation at the micro level of micropipettes and probes used in conjunction with a
microscope. No other use is recommended.

This instrument is designed for use in a laboratory environment. It is not intended nor
should it be used in human experimentation or applied to humans in any way. This is not a
medical device.

Unless otherwise indicated in this manual or by Sutter Instrument Technical Support for
reconfiguration, do not open or attempt to repair the instrument.

Do not allow an unauthorized and/or untrained operative to use this device.

Any misuse will be the sole responsibility of the user/owner and Sutter Instrument Company
assumes no implied or inferred liability for direct or consequential damages from this
instrument if it is operated or used in any way other than for which it is designed.

SAFETY WARNINGS AND PRECAUTIONS

Electrical

 Operate the TRIO MP-245A using 110 – 240 VAC., 50-60 Hz line voltage. This instrument

is designed for use in a laboratory environment that has low electrical noise and
mechanical vibration. Surge suppression is always recommended

 NOTE: There are no user-replaceable fuses in the TRIO MP-245A system.

 The TRIO MP-245A system’s power supply consists of an external AC to DC

switching power adapter. If the external power adapter is damaged due to a mains over or
under voltage, it must be replaced.

 GROUNDING/EARTHING: Proper grounding protects the ROE/controller

electronics, reduces/eliminates electromagnetic interference, and improves the safety of the
system operator. The ROE/controller provides a socket (labeled GROUND) that accepts a
banana plug attached to a suitably gauged insulated wire, the other end of which (alligator
clip) connects to a solid, proper ground.

Avoiding Electrical Shock and Fire-related Injury

 Always use the grounded power cord provided to connect the system’s power adapter to a

grounded/earthed mains outlet (3-prong). This is required to protect you from injury in the
event that an electrical hazard occurs.

 Do not disassemble the system. Refer servicing to qualified personnel.

 To prevent fire or shock hazard do not expose the unit to rain or moisture.

Electromagnetic Interference

To comply with FDA and CE/EU electromagnetic immunity and interference standards; and
to reduce the electromagnetic coupling between this and other equipment in your lab always
use the type and length of interconnect cables provided for interconnecting the electro­mechanical devices and ROE/controller (refer to Technical Specifications for more details).

Operational

Failure to comply with any of the following precautions may damage this device.

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 This instrument is designed for operation in a laboratory environment (Pollution Degree I)

that is free from mechanical vibrations, electrical noise and transients.

 DO NOT CONNECT OR DISCONNECT THE CABLES BETWEEN THE

CONTROLLER AND THE MECHANICAL UNITS WHILE POWER IS ON.
Please allow at least 20 seconds after turning the unit off before disconnecting the
mechanical units. Failure to do so may result in damage to the electronics.

 Operate this instrument only according to the instructions included in this manual.
 Do not operate if there is any obvious damage to any part of the instrument.

 Do not operate this instrument near flammable materials. The use of any hazardous

materials with this instrument is not recommended and, if undertaken, is done so at the
users’ own risk.

 Do not operate if there is any obvious damage to any part of the instrument. Do not

attempt to operate the instrument with the TRIO MP-245/M electromechanical
manipulator shipping tape in place or severe motor damage may result. When transporting
the mechanical manipulator, be sure to reinstall the shipping tape (using masking tape or
equivalent only) to the original locations. Failure to do this may result in damage to the
motors.

 Never touch any part of the micromanipulator electromechanical device while it is in

operation and moving. Doing so can result in physical injury (e.g., fingers can be caught
and pinched between the moving parts of the micromanipulator).

 If the TRIO MP-245A system is used in a microinjection environment, please observe

the following. As with most micromanipulation devices, sharp micropipettes can fly out of
their holder unexpectedly. Always take precautions to prevent this from happening. Never
loosen the micropipette holder chuck when the tubing is pressurized, and never point
micropipette holders at yourself or others. Always wear safety glasses when using sharp
glass micropipettes with pressure tubing.

 Take care to ensure no cables pass close to the TRIO MP-245/M electromechanical

micromanipulator within the spherical movement limits of all its axes combined.

Other

 Retain the original packaging for future transport of the instrument.
 Sutter Instrument reserves the right to change specifications without prior notice.
 Use of this instrument is for research purposes only.

Handling Micropipettes

Failure to comply with any of the following precautions may result in injury to the users

of this device as well as those working in the general area near the device.

 The micropipettes used with this instrument are very sharp and relatively fragile. Avoid

contact with micropipette tips to prevent accidentally impaling oneself.

 Always dispose of micropipettes by placing them into a well-marked, spill-proof “sharps”

container.

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TABLE OF CONTENTS

DISCLAIMER ....................................................................................................................................... 3

SAFETY WARNINGS AND PRECAUTIONS .................................................................................... 3

Electrical .................................................................................................................................................. 3

Avoiding Electrical Shock and Fire-related Injury .............................................................................. 3

Electromagnetic Interference ............................................................................................................ 3

Operational .............................................................................................................................................. 3

Other......................................................................................................................................................... 4

Handling Micropipettes .......................................................................................................................... 4

1. INTRODUCTION ............................................................................................................................. 9

1.1 Structure of the TRIO MP-245A Documentation Package ......................................................... 9

1.2 Components of the TRIO MP-245A System .................................................................................. 9

1.3 Overview .......................................................................................................................................... 10

1.3.1 Features ..................................................................................................................................... 10

1.3.2 Description ................................................................................................................................ 10

2. INSTALLATION ............................................................................................................................ 13

2.1 Mounting Instructions ................................................................................................................... 13

2.1.1 Mounting the TRIO MP-245/M to the Stand or Platform .................................................. 13

2.2 Headstage Mounting ...................................................................................................................... 14

2.3 Other Accessories ............................................................................................................................ 14

2.4 Electrical Connections and Initial Operating Instructions ........................................................ 14

2.5 ROE/Controller Rear Panel Controls and Configuration........................................................... 15

2.5.1 Power Switch ............................................................................................................................ 15

2.5.2 Rear-Panel Configuration Switches ....................................................................................... 16

2.5.2.1 Rear-Panel Switches 1, 2, 3 and 4: Knob Rotation Directionality for Forward (+)

Movement ....................................................................................................................................... 16

2.5.2.2 Rear-Panel Switch 5: Y-Axis Lockout during Homing .................................................. 16

2.5.2.3 Rear-Panel Switch 6: Calibration Homing on Power On ............................................. 16

2.5.1 Internal Configuration Switches ............................................................................................ 17

2.5.1.1 Internal Switch 1 Reserved .............................................................................................. 17

2.5.1.2 Internal Switch 2: Electromechanical Device Compatibility. ....................................... 17

2.5.1.3 Internal Switch 3 Reserved .............................................................................................. 17

2.5.1.4 Internal Switch 4 Linear/Nonlinear Manual Operation ............................................... 17

3. OPERATIONS ................................................................................................................................ 19

3.1 Main Controls and Indicators on the ROE/Controller ............................................................... 19

3.2 Display .............................................................................................................................................. 19

3.2.1 Initial Startup ........................................................................................................................... 19

3.3 Control Operations ......................................................................................................................... 20

3.3.1 Maximum Positive Position Values: ...................................................................................... 20

3.3.2 Setting Position for HOME or WORK ................................................................................... 20

3.3.3 Setting the Angle of the Pipette/Headstage Holder ............................................................. 20

3.3.4 Operating the Virtual D Axis .................................................................................................. 20

3.3.5 Moving to the Home Position ................................................................................................. 21

3.3.6 Moving to the Work Position .................................................................................................. 21

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3.3.7 Setting Absolute/Relative Coordinates Mode ........................................................................ 22

3.3.8 Mode Indications ...................................................................................................................... 22

3.3.9 Speed Control and ROE Knob Movements (SPEED) .......................................................... 23

3.3.10 Movement Knobs Disabling and Lock Mode ([SPEED]/LOCK) ...................................... 23

3.3.11 Pausing Home Movements (HOME (while moving to Home)) ........................................ 23

3.3.12 Pausing Work Movements (WORK (while moving to Work)) .......................................... 23

3.3.13 Pulse Mode and Virtual D-Axis Movement (PULSE) ........................................................ 23

3.4 Micropipette/Headstage Exchange ............................................................................................... 23

4. EXTERNAL CONTROL ................................................................................................................ 25

4.1 General ............................................................................................................................................. 25

4.2 Virtual COM Port (VCP) Serial Port Settings ............................................................................. 25

4.3 Protocol and Handshaking ............................................................................................................ 25

4.4 Command Sequence Formatting .................................................................................................. 26

4.5 Axis Position Command Parameters ............................................................................................ 26

4.6 Microsteps and Microns (Micrometers) ........................................................................................ 27

4.7 Commands ....................................................................................................................................... 27

4.7.1 Get Current Position and Angle (‘c’ or ‘C’) Command ........................................................ 27

4.7.2 Move to Controller-Defined HOME Position (‘h’) Command ............................................. 28

4.7.3 Move to Controller-Defined WORK Position (‘w’) Command ............................................ 28

4.7.4 Move to Specified “Home” Position (‘H’) Command ........................................................... 28

4.7.5 Move to Specified “Work” Position (‘W’) Command............................................................ 29

4.7.6 Move in Straight Line to Specified Position at Specified Speed (‘S’) Command .............. 29

4.7.7 Interrupt Straight-Line Move (‘^C’) Command ................................................................. 30

4.7.8 Move to Specified X-Axis Position (‘x’ or ‘X’) Command ..................................................... 30

4.7.9 Move to Specified Y-Axis Position (‘y’ or ‘Y’) Command ..................................................... 31

4.7.10 Move to Specified Z-Axis Position (‘z’ or ‘Z’) Command ................................................... 31

4.7.11 Setting the Angle (‘A’) Command ........................................................................................ 31

4.7.12 Recalibrate (‘R’) Command ................................................................................................... 32

4.7.13 Notes ........................................................................................................................................ 32

5. MAINTENANCE ............................................................................................................................ 35

6. RECONFIGURATION ................................................................................................................... 35

6.1 Changing the Rotary Knob Functions on the ROE/Controller ................................................. 35

APPENDIX A. LIMITED WARRANTY ............................................................................................ 37

APPENDIX B. ACCESSORIES ......................................................................................................... 38

APPENDIX C. TECHNICAL SPECIFICATIONS ........................................................................... 39

APPENDIX D. QUICK REFERENCE .............................................................................................. 41

D.1. Manual Operation ......................................................................................................................... 41

D.2. Configuration................................................................................................................................. 41

Rear-Panel DIP Switches ............................................................................................................... 41

Internal DIP Switches .................................................................................................................... 41

D.3. External Control ........................................................................................................................... 42

INDEX ................................................................................................................................................. 47

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TABLE OF FIGURES

Figure 1-1. The TRIO MP-245A system .................................................................................................. 9

Figure 2-1. Side view of TRIO MP-245/M showing mounting adapter plate and lock screws. ........ 13

Figure 2-2. Mounting the TRIO MP-245/M on the Adapter Plate ...................................................... 14

Figure 2-3. Rear of TRIO MP-245A ROE/Controller cabinet .............................................................. 15

Figure 2-4. Configuration switches on rear-panel (switch positions shown are factory defaults). .. 16

Figure 2-5. Internal configuration switches (switch positions shown are factory defaults). ........... 17

Figure 3-1. LCD Display showing startup screen. ................................................................................ 19

Figure 3-2. Startup screen ....................................................................................................................... 19

Figure 3-3. Factory default startup (Home) position ............................................................................ 20

Figure 3-4. Maximum positive values..................................................................................................... 20

Figure 3-5. Moving to Home position (screen is amber while moving) .............................................. 21

Figure 3-6. Factory default Home position ............................................................................................ 21

Figure 3-7. Example Home position defined and saved ....................................................................... 21

Figure 3-8. Example Work position ........................................................................................................ 21

Figure 3-9. Relative mode ........................................................................................................................ 22

Figure 3-10. Relative mode ...................................................................................................................... 22

Figure 3-11. Absolute mode ..................................................................................................................... 22

Figure 3-12. Angled side view of TRIO MP-245/M to change headstage mount ............................... 24

Figure 6-1. Locations of the axis connectors inside the ROE/Controller ........................................... 35

TABLE OF TABLES

Table 2-1. Rear-Panel Configuration Switches 1 - 4: Configuring the direction of each axis. ......... 16

Table 2-2. Rear-Panel Configuration Switch 5: Y-Axis Homing Movement Lock Out.................... 16

Table 2-3. Rear-Panel Configuration Switch 6: Configuring power-on positional memory or

calibration. ............................................................................................................................... 16

Table 2-4. Internal Configuration Switch 2: Electromechanical device compatibility. .................... 17

Table 3-1. Maximum positive position value of each axis .................................................................... 20

Table 3-2. Screen colors and modes ........................................................................................................ 23

Table 4-1. USB-VCP interface serial port settings. .............................................................................. 25

Table 4-2. Microns/microsteps conversion. ............................................................................................ 27

Table 4-3. Ranges and bounds ................................................................................................................. 27

Table 4-4. Get Current Position and Angle (‘c’ or ‘C’) command. ...................................................... 28

Table 4-5. Move to controller-defined HOME position (‘h’) command. ............................................. 28

Table 4-6. Move to controller -defined WORK position (‘w’) command. ............................................ 28

Table 4-7. Move to specified “Home” position (‘H’) command. .......................................................... 29

Table 4-8. Move to specified “Work” position (‘W’) command. ........................................................... 29

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Table 4-9. Straight-line move to specified position (‘S’) command. .................................................... 29

Table 4-10. Straight-Line Move ‘S’ Command Speeds. ........................................................................ 30

Table 4-11. Interrupt a straight-line move in progress (‘^C’) command. ......................................... 30

Table 4-12. Move to specified X-axis position (‘x’ or ‘X’) command. ................................................... 31

Table 4-13. Move to specified Y-axis position (‘y’ or ‘Y’) command. ................................................... 31

Table 4-14. Move to specified Z-axis position (‘z’ or ‘Z’) command. .................................................... 31

Table 4-15. Set the angle (‘A’) command. .............................................................................................. 32

Table 4-16. Recalibrate (‘R’) command. ................................................................................................. 32

Table 4-16. Straight-Line Move ‘S’ Command Speeds. ........................................................................ 34

Table C-1. TRIO MP-245A cables and receptacles/connectors. ........................................................... 39

Table D-1. Configuration Switches (External) 1 – 6. ............................................................................ 41

Table D-2. Configuration Switches (Internal) 1 - 4 .............................................................................. 41

Table D-3. USB-VCP interface serial port settings............................................................................... 42

Table D-4. Microns/microsteps conversion. ........................................................................................... 43

Table D-5. Ranges and bounds. ............................................................................................................... 43

Table D-6. TRIO MP-245A external control commands. ..................................................................... 43

Table D-7. Straight-Line Move ‘S’ Command Speeds. ......................................................................... 46

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TRIO MP-245/M
TRIO MP-245/E

1. INTRODUCTION

1.1 Structure of the TRIO MP-245A Documentation Package

The TRIO MP-245A 3-Axis Micromanipulator System is comprised of a ROE/controller, a
power adapter, and a TRIO MP-245/M stepper-motor-based electromechanical
micromanipulator. This manual consists of four parts: This chapter, Introduction, which
provides an overview and general description of the TRIO MP-245A system; Chapter 2,
Installation, which describes how to install, set up, and configure all components of the
system; Chapter 3, Operations, which describes how to operate the TRIO MP-245A; Chapter
4, Maintenance, describes how to perform routine and other maintenance; and Chapter 5,
Reconfiguration, describes the reconfiguration possibilities of the TRIO MP-245A system.

ELECTROMECHANICAL
MICROMANIPULATOR

ROE/CONTROLLER

Figure 1-1. The TRIO MP-245A system

1.2 Components of the TRIO MP-245A System

Carefully remove all components from the shipping container. In addition to this manual, the
following should be included:

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 TRIO MP-245A ROE Rotary Optical Encoder input device with built-in controller and

external power adapter.

 TRIO MP-245/M electromechanical micromanipulator
 26-pin HD DSUB cable (connects the ROE/controller to the TRIO MP-245/M

electromechanical micromanipulator).

 Power adapter
 Power adapter AC mains cable appropriate for your location
 Ground/Earth cable
 USB Cable

IMPORTANT

Once the TRIO MP-245A system has been unpacked, remove the shipping tape from the
various locations on the TRIO MP-245/M electromechanical micromanipulator. The shipping
tape must be removed before operating the TRIO MP-245A system. If you need to transport
the TRIO MP-245/M in the future, reapply 2 to 3-inch pieces of masking tape to the same
locations. Once the tape has been removed, handle the TRIO MP-245/M with care. The
mechanisms can be damaged if any of the axes are inadvertently moved without the tape in
place.

1.3 Overview

1.3.1 Features

 Three independent axes (X, Y, and Z) each with 25mm travel with a virtual fourth axis

(D) for coaxial pipette movement utilizing a tangent function factoring the holder’s angle
and the X and Z axes.

 Sub-micron 100nm resolution
 Digital display indicates coordinates in relative or absolute
 User-friendly, fanless compact controller with ROE preserves bench space
 Push button control of multiple functions – work, home, Lock, pulse and relative
 Robotic home- and work-position moves for easy automated pipette exchange

1.3.2 Description

The TRIO MP-245A, the newest Sutter Instrument motorized manipulator, is easy to use and
has three independent axes. The X, Y, and Z axes provide 25mm range of motion. D-axis
movement is accomplished virtually using a tangent function of the chosen angle of the
holder and simultaneously moving X and Z. The ROE controller has a digital display and
keys for Home, Work, Pulse, Lock, and Relative. The compact, intuitive controller takes up
minimal bench space, is fan-free, and easy to use.

While the axes provide X and Y orthogonal motion typical of most motorized manipulators,
Sutter has introduced a diagonal axis with the
coaxially at the exact desired angle of approach.

TRIO MP-245A so one can move the electrode

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The TRIO MP-245A’s ROE provides fine control of electrode position and the rate of rotation
of ROE dials for each axis determines the speed of travel. The finest step size is less than
100nm. Five conveniently located buttons on the ROE provide control of all the basic
functions you will need in normal operation (Work, Home, Lock, Relative, and Pulse).

Press and hold WORK (for 3 seconds) to quickly store a work position, tap HOME to move all
axes to an initial location that is useful for changing electrodes, or press and hold the HOME
button (for 3 seconds) to memorize a new HOME position.

When ready to record data, the motor drive electronics can be suppressed by pressing the
LOCK button. In the LOCK mode, the display turns red and ROE input is locked out to avoid
any accidental motion.

Pressing and holding the RELATIVE button for three seconds at any location causes the
display coordinates to all zeroes. When activating relative mode, the display turns blue.

To return to viewing the absolute coordinates, tap the RELATIVE button to toggle back.
Finall y, tapping the PULSE button causes a 3μm advance in the diagonal. This rapid burst of
forward motion can assist in sharp electrode cell penetration.

All the electronics, except for a small power supply, are housed within the TRIO MP-245A
ROE and no separate controller or computer is required.

External computer control of the TRIO MP-245A is possible via the USB connector mounted
on the controller/ROE’s rear panel. The controller’s internal software is programmed with a
defined set of commands allowing for a wide range of micromanipulator/stage movements as
programmed in software residing in an external computer connected via USB.

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Locking Screws

Locking Screws

2. INSTALLATION

When installing the TRIO MP-245A system for the first time, it is recommended that the
components of the system be installed in the following order: TRIO MP-245/M
electromechanical micromanipulator first, followed by the TRIO MP-245A/E ROE/Controller.

2.1 Mounting Instructions

The following sections describe how to mount the TRIO MP-245/M manipulator to a stand
using the mounting adapter plate, how to adjust the pipette angle and how to mount
different headstages.

2.1.1 Mounting the TRIO MP-245/M to the Stand or Platform

The TRIO MP-245/M attaches to the mounting adapter plate using four M3.5x6 hex head
locking screws.

Figure 2-1. Side view of TRIO MP-245/M showing mounting adapter plate and lock screws.

The TRIO MP-245/M is shipped with the adapter plate in place. It is attached using four
tapered pegs, along with four locking screws.

To remove it, first loosen the four hex screws that secure the manipulator to the pegs in the
adapter plate. The rear pair is in a similar location in the back of the manipulator. Once the

locking screws are sufficiently loosened, lift the TRIO MP-245/M upwards from the adapter
plate.

Before attaching the adapter plate to the TRIO MP-245/M, you need to decide where to
position the manipulator on your stand/platform. The stand can be any flat surface carrying
¼-20, 10-32, or M6 holes on one-inch centers (such as a Sutter Instrument MT-series stand
or MD series platform).

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Examine the space of the platform onto which installation is to take place. Attach the control
cable to TRIO MP-245/M and move the entire unit around on the platform until the precise
desired position is determined. A small bag containing the necessary hardware to attach the
TRIO MP-245/M to the stand is included.

Figure 2-2. Mounting the TRIO MP-245/M on the Adapter Plate

Once the plate is mounted, align the pegs on top of the plate with the holes in the
manipulator, push the X-axis firmly onto the plate, and re-tighten the locking hex set
screws.

2.2 Headstage Mounting

Sutter IPA headstage, Axon headstages 203B or CV-7, and the Heka EPC-10 headstage have
an integral dovetail that fits directly into the rotary dovetail slide bracket on the TRIO MP­245/M. The dovetail slide bracket on the TRIO MP-245/M also supports older Axon and Heka
headstages when using the 4’’ dovetail extension.

Rod-mounted headstages and micro tools are accommodated using a rod clamp that fits into
the dovetail (not shown). All the headstage adapters and mounting hardware are included
with the manipulator and are shipped in a zip lock plastic bag.

2.3 Other Accessories

One or more accessories may have been ordered and received for mounting the TRIO MP­245/M and/or modifying the headstage mount to the manipulator (i.e., rotating base,
microscope stage mount, gantry, dovetail extension, etc.). Setup of these accessories is
normally covered in documentation accompanying the accessory.

2.4 Electrical Connections and Initial Operating Instructions

Initially, you may want to simply connect the TRIO MP-245/M micromanipulator and the
ROE/Controller together and try some gross movements in order to get a feel for the controls
and how to make simple movements. It is perfectly acceptable to set the manipulators in the
middle of a bench top, make all electrical connections and then observe each unit’s
movement by eye.

CAUTION: Unless the TRIO MP-245/M micromanipulator electromechanical baseplate
is firmly bolted down to a breadboard or solidly to a firm surface, the TRIO MP-245/M is
likely to tip over when fully extending all of its axes, especially if it is loaded with a headstage
that extends beyond the TRIO MP-245/M’s current center of gravity.

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Upon deciding to directly install the TRIO MP-245A system in your rig, it is useful to follow
the initial setup procedure to learn how to move the units to allow easy access to the
mounting screws.

1. With the power switch on the back of the ROE in the OFF (0) position, connect the power

adapter’s 24VDC cable to the POWER receptacle.

Figure 2-3. Rear of TRIO MP-245A ROE/Controller cabinet

2. With the power OFF (rear panel switch in the “0” position), connect a well-

grounded/earthed wire to the GROUND banana plug receptacle.

3. With the power OFF, connect the male end of the DB-25 cable to the MANIPULATOR

connector on the ROE, the other end of which is connected to the TRIO MP-245/M
micromanipulator electromechanical.

(See cautionary note below.)

4. Verify that the six switches on the rear of the ROE are set as desired.

5. Power up the system by moving the power switch on the rear of the ROE to the “1”

position.

* CAUTION: NEVER CONNECT OR DISCONNECT THE ROE/CONTROLLER
FROM THE TRIO MP-245/M WHILE THE POWER IS ON!

2.5 ROE/Controller Rear Panel Controls and Configuration

2.5.1 Power Switch

The power switch for the TRIO MP-245A system is located on the rear panel of the
ROE/controller. At power up, the microprocessor in the ROE/controller scans the attached
equipment and configures the system accordingly.

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Rear-Panel

Switch #

Y-Axis Homing Movement Lock Out

Enabled

Disabled

5

ON (Down)*

Rear-Panel

Switch #

Definition

State

Setting

Position

6

Calibration

Homing on Power

On

Enabled: Calibrates to 1,000 µm for all axes on

power on. Power-off position is forgotten.

ON*

DOWN*

Rear-Panel

Switch #

Axis

Knob Rotation Directionality for Forward (+) Movement

Clockwise

Counterclockwise

1

X

OFF (Up)*

2

Y

OFF (Up)*

3

Z

OFF (Up)*

4

D

OFF (Up)*

1 2 3 4 5 6

2.5.2 Rear-Panel Configuration Switches

Figure 2-4. Configuration switches on rear-panel (switch positions shown are factory defaults).

2.5.2.1 Rear-Panel Switches 1, 2, 3 and 4: Knob Rotation Directionality for Forward (+) Movement

These switches set the directionality for each of the four axes.

Table 2-1. Rear-Panel Configuration Switches 1 - 4: Configuring the direction of each axis.

ON (Down)**

ON (Down)**

ON (Down)

ON (Down)

* Factory default (typical setting for right-hand-mounted manipulator).
** Possible setting for a right-handed manipulator used on the left.

2.5.2.2 Rear-Panel Switch 5: Y-Axis Lockout during Homing

Configures whether the Y axis is locked out while homing.

Table 2-2. Rear-Panel Configuration Switch 5: Y-Axis Homing Movement Lock Out.

OFF (Up)

* Factory default (recommended normal operation setting).

2.5.2.3 Rear-Panel Switch 6: Calibration Homing on Power On

Table 2-3. Rear-Panel Configuration Switch 6: Configuring power-on positional memory or calibration.

* Factory default (recommended normal operation setting)

TRIO MP-245A FOUR-AXIS MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 3.12B (20191001)

Disabled: No calibration occurs on power on.

Power-off position is retained on power on

OFF UP

17

Internal

Switch #

Definition

State

Setting

Position

2

Eletromechanical

device

compatibility

OFF*

UP*

78

1 2 3 4

2.5.1 Internal Configuration Switches

Figure 2-5. Internal configuration switches (switch positions shown are factory defaults).

2.5.1.1 Internal Switch 1 Reserved

Internal Switch 1 is unused and reserved for future use.

2.5.1.2 Internal Switch 2: Electromechanical Device Compatibility.

Table 2-4. Internal Configuration Switch 2: Electromechanical device compatibility.

MP-845/M, MP-845S/M, & MP-245/M series

MP-285/M series micromanipulator; 3DMS or MT-

stage; MOM & SOM objective mover)

ON DOWN

* Factory default (recommended normal operation setting)

2.5.1.3 Internal Switch 3 Reserved

Internal Switch 3 is unused and reserved for future use.

2.5.1.4 Internal Switch 4 Linear/Nonlinear Manual Operation

Internal Switch 4 switches between linear and nonlinear manual operation. Contact Sutter
Instrument technical support for more information.

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18

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TRIO MP-245A FOUR-AXIS MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 3.12B (20191001)

19

DISPLAY

Z-AXIS
CONTROL

Y-AXIS
CONTROL

D-AXIS
CONTROL
(SYN

X-AXIS
CONTROL

RELATIVE
MODE

PULSE &
ANGLE
MODES

WORK
POSITION

HOME
POSITION

SPEED &
LOCK
MODES

TRIO / MP-245A

SUTTER

INSTRUMENT CORP.

(Text in
Green)

TRIO / MP-245A

REV 2.4

(Text in
Green)

3. OPERATIONS

3.1 Main Controls and Indicators on the ROE/Controller

-SET

THETIC)

Figure 3-1. Front view of the TRIO MP-245A ROE/Controller

3.2 Display

3.2.1 Initial Startup

Figure 3-1. LCD Display showing startup screen.

When starting the TRIO MP-245A system for the first time or if the HOME position has not
yet been defined (saved), the values of all four axes will be 1,000 micrometers (microns).

Figure 3-2. Startup screen

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20

Axis

Maximum Position

Value (in microns)

X

25,000

Y

25,000

Z

25,000

(Text in
Green)

(Text in
Green)

X= 1000 Y= 1000
Z= 1000 >=

X=25000 Y=25000
Z=25000 >=

Figure 3-3. Factory default startup (Home) position

3.3 Control Operations

3.3.1 Maximum Positive Position Values:

Move the dial of an axis clockwise until its position value stops incrementing. The following
table lists the maximum position value (in microns) for each axis.

Table 3-1. Maximum positive position value of each axis

Figure 3-4. Maximum positive values

3.3.2 Setting Position for HOME or WORK

To set position, hold down HOME or WORK button for 3 seconds until beep sounds.

3.3.3 Setting the Angle of the Pipette/Headstage Holder

To change the angle of the holder, first loosen the set screw at the top of the rotary dovetail
bracket, rotate the holder to the desired angle, and then retighten the set sc r e w.

Measure the angle of the holder. (Tip: Many smart phones have an app with a level that can
assist the u s e r. )

3.3.4 Operating the Virtual D Axis

The TRIO MP-245A consists of three physical axes, X, Y and Z. A tangent function utilizing X
and Z axes and the angle of the holder has been implemented to create a virtual D axis. Use
between 10° and 90° for best results.

Zero (0°) is set with the diagonal being parallel to the table and 90° is set with the diagonal
being perpendicular to the table.

To set the angle measured above, on the ROE hold LOCK down for several seconds. The
screen will be red until the display indicates in green: “Select the angle in use (0-90)”.

Use the D dial on the ROE to set the value of the angle. Once this value is dialed in, do not
touch the ROE knob for 8-10 sec. The virtual D angle will now be set.

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21

X= 0 Y= 1524
Z= 0 >= 0

(Text in
Red)

(Text in
Green)

(Text in
Green)

X= 1000 Y= 1000
Z= 1000 >=

(Text in
Green)

X=1868 Y=1524
Z=1686 >=25

X=2868 Y=2524
Z=1686 >=25

3.3.5 Moving to the Home Position

Figure 3-5. Moving to Home position (screen is amber while moving)

If the Home position has not yet been defined and saved, the Home position values for all
axes will default to 1,000 microns, as shown in the following figure.

Figure 3-6. Factory default Home position

If the Home position has been previously defined (saved), pressing HOME will make a move
to the defined home position (see example in the following figure).

Figure 3-7. Example Home position defined and saved

To move to the Home position, press HOME. If the current position before pressing HOME is
greater than the Home position, the movement will be as follows:

NOTE: Movement to the Home position works only if X coordinates of the HOME position
are less than the WORK position. HOME and WORK positions cannot be the same.

1. Movement begins by retracting the Z axis (at the angle currently set) away from the

sample.

2. Movement then continues along the X axis toward the Home position.

3. The final movement is along the Y-axis towards the operator and away from the

microscope.

NOTE: Step 3 occurs only if “Y-Lockout” is disabled. Otherwise, no movement along the Y­axis occurs.

3.3.6 Moving to the Work Position

Figure 3-8. Example Work position

To move to the Work position, press the WORK button. If the current position before
pressing WORK is less than the Work position, the movement will be as follows:

TRIO MP-245A FOUR-AXIS MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 3.12B (20191001)

22

X=- 893 Y= 1524
Z= 1686 >= 30

(Text in
Green)

X=- 893 Y= 1524
Z= 1686 >= 30

(Text in
Blue)

X=- 0 Y= 0
Z= 0 >= 0

(Text in
Blue)

1. Movement travels along the Y-axis away from the operator and towards the microscope.

2. Movement is then made along the X axis toward the sample. Travel then continues along

the diagonal until reaching its end-of-travel point.

NOTE: Step 1 occurs only if “Y-Lockout” is disabled. Otherwise, movement begins with
Step 2.

3.3.7 Setting Absolute/Relative Coordinates Mode

The RELATIVE button toggles between Relative and Absolute coordinate systems. The
default coordinate system on power up is Absolute, with the coordinates on the screen shown
in green. To switch to relative coordinates, press the RELATIVE button once. To reset the
current position to all zeroes, depress the RELATIVE for 3 seconds or until a beep is heard,
and then release the button. This resets the current position to all zeroes.

Press RELATIVE once (briefly for < 2 sec.)

Figure 3-9. Relative mode

Depress RELATIVE for 3 sec. or until beep sounds

Figure 3-10. Relative mode

Pressing RELATIVE briefly while in Relative mode, returns displayed coordinates back to
Absolute mode

Figure 3-11. Absolute mode

3.3.8 Mode Indications

The TRIO MP-245A system has three modes of operation: Absolute coordinates, Relative
coordinates, and Lock mode. The display turns color for each specific mode, as shown in the
following table.

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23

Screen Color

Mode

Example

Green

Absolute Coordinates

Blue

Relative Coordinates

Red

Knobs disabled during move to

X=- 0 Y= 0
Z= 0 >= 0

X= 1868 Y= 1524
Z= 1686 >= 2706

X= 0 Y= 1524
Z= 0 >= 0

Table 3-2. Screen colors and modes

Home or Work position, while in
Lock mode.

3.3.9 Speed Control and ROE Knob Movements (SPEED) The rate at which the ROE axis knobs move the electromechanical can be adjusted with the

SPEED button. Each press of the button cycles through four speeds: 0 (normal) through 3
(fastest).

3.3.10 Movement Knobs Disabling and Lock Mode ([SPEED]/LOCK) Axis-movement knobs are disabled during movements to Home, Work, or while in Lock Mode

(display is in red).

3.3.11 Pausing Home Movements (HOME (while moving to Home)) After Move to Home has been initiated, and while the move is in progress, pressing HOME a

second time pauses the manipulator. Pressing HOME again resumes movement.

3.3.12 Pausing Work Movements (WORK (while moving to Work)) After Move to Work has been initiated, and while the move is in progress, pressing WORK a

second time pauses the manipulator. Pressing WORK again resumes movement.

3.3.13 Pulse Mode and Virtual D-Axis Movement (PULSE)

Pulse mode advances the D axis in 2.85 µm steps. Each press of the PULSE button
increments the Diagonal axis by one 2.85-µm step beyond the current position. This feature
can be used to penetrate tough or resistant tissue.

3.4 Micropipette/Headstage Exchange

Mounted on the front of the Z-axis of the manipulator is the angle-control plate for the
headstage mount.

TRIO MP-245A FOUR-AXIS MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 3.12B (20191001)

24

Rotary dovetail holder
Rotary dovetail

Rotary dovetail angle

lock set screw

clamp screw

for rod/micropipette
holder or headstage

Figure 3-12. Angled side view of TRIO MP-245/M to change headstage mount

To change the headstage, loosen the screw in the center of the holding bracket. Slide the
headstage upward out of the dovetail groove. Make any adjustments needed of the headstage,
and then tighten down (but do not over tighten) the lock screw in the center of the holding
bracket.

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25

Property

Setting

4. EXTERNAL CONTROL

4.1 General

Controlling the TRIO MP-245A externally via computer is accomplished by sending
commands over the USB interface between the computer and the USB connector on the rear
panel of the TRIO MP-245A controller/ROE. The USB device driver for Windows is
downloadable from Sutter Instrument’s web site (www.sutter.com
requires Sutter Instrument’s USB CDM (Combined Driver Model) Version 2.10.00 or higher.
The CDM device driver consists of two device drivers: 1) USB device driver, and 2) VCP
(Virtual COM Port) device driver. Install the USB device driver first, followed by the VCP
device driver. The VCP device driver provides a serial RS-232 I/O interface between a
Windows application and the TRIO MP-245A. Although the VCP device driver is optional, its
installation is recommended even if it is not going to be used. Once installed, the VCP can be
enabled or disabled.

The CDM device driver package provides two I/O methodologies over which communications
with the controller over USB can be conducted: 1) USB Direct (D2XX mode), or 2) Serial RS­232 asynchronous via the VCP device driver (VCP mode). The first method requires that the
VCP device driver not be installed, or if installed, that it be disabled. The second method
requires that the VCP be installed and enabled.

). The TRIO MP-245A

4.2 Virtual COM Port (VCP) Serial Port Settings

The following table lists the required RS-232 serial settings for the COM port (COM3,
COM5, etc.) generated by the installation or enabling of the VCP device driver.

Table 4-1. USB-VCP interface serial port settings.

Data (“Baud”) Rate (bits per second (bps)) 57600
Data Bits 8
Stop Bits 1
Parity None
Flow Control None

The settings shown in the above table can be set in the device driver’s properties (via the
Device Manager if in Windows) and/or programmatically in your application.

4.3 Protocol and Handshaking

Command sequences do not have terminators. All commands return an ASCII CR (Carriage
Return; 13 decimal, 0D hexadecimal) to indicate that the task associated with the command
has completed. When the controller completes the task associated with a command, it sends
ASCII CR back to the host computer indicating that it is ready to receive a new command. If
a command returns data, the last byte returned is the task-completed indicator.

TRIO MP-245A FOUR-AXIS MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 3.12B (20191001)

26

4.4 Command Sequence Formatting

Each command sequence consists of at least one byte, the first of which is the “command
byte”. Those commands that have parameters or arguments require a sequence of bytes that
follow the command byte. No delimiters are used between command sequence arguments,
and command sequence terminators are not used. Although most command bytes can be
expressed as ASCII displayable/printable characters, the rest of a command sequence must
generally be expressed as a sequence of unsigned byte values (0-255 decimal; 00 – FF
hexadecimal, or 00000000 – 11111111 binary). Each byte in a command sequence
transmitted to the controller must contain an unsigned binary value. Attempting to code
command sequences as “strings” is not advisable. Any command data returned by the
controller should be initially treated as a sequence of unsigned byte values upon reception.
Groups of contiguous bytes can later be combined to form larger values, as appropriate (e.g.,
2 bytes into 16-bit “word”, or 4 bytes into a 32-bit “long” or “double word”). For the TRIO
MP-245A, all axis position values (number of microsteps) are stored as “unsigned long” 32-bit
positive-only values, and each transmitted and received to and from the controller as four
contiguous bytes.

4.5 Axis Position Command Parameters

All axis positional information is exchanged between the controller and the host computer in
terms of microsteps. Conversion between microsteps and microns (micrometers) is the
responsibility of the software running on the host computer (see Microns/microsteps
conversion table for conversion factors).

Microsteps are stored as positive 32-bit values (“long” (or optionally, “signed long”), or
“unsigned long” for C/C++; “I32” or “U32” for LabVIEW). “Unsigned” means the value is
always positive; negative values are not allowed. The positive-only values can also be stored
in signed type variables, in which case care must be taken to ensure that only positive values
are exchanged with the controller.

The 32-bit value consists of four contiguous bytes, with a byte/bit-ordering format of Little
Endian (“Intel”) (most significant byte (MSB) in the first byte and least significant (LSB) in
the last byte). If the platform on which your application is running is Little Endian, then no
byte order reversal of axis position values is necessary. Examples of platforms using Little
Endian formatting include any system using an Intel/AMD processor (including Microsoft
Windows and Apple Mac OS X).

If the platform on which your application is running is Big Endian (e.g., Motorola PowerPC
CPU), then these 32-bit position values must have their bytes reverse-ordered after receiving
from, or before sending to, the controller. Examples of Big-Endian platforms include many
non-Intel-based systems, LabVIEW (regardless of operating system & CPU), and Java
(programming language/environment). MATLAB and Python (script programming language)
are examples of environments that adapt to the system on which each is running, so Little­Endian enforcement may be needed if running on a Big-Endian system. Some processors
(e.g., ARM) can be configured for specific endianess.

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27

Controller with Device

From/To Units

Conversion Factor

(multiplier)

MP-845/M, MP-845S/M,

MP-245/M*

micromanip

µm  µsteps

10.66666666667

MP-285/M

3DMS

MT-78

stag

MOM

SOM

µm  µsteps

8

Device

Axis

Millimeters

Microns

Microsteps

MP-845/M, MP-845S/M, or
MP-245/M* micromanipulator

MP-285/M micro-manipulator;
3DMS

MT-78

MOM

SOM objective mover

4.6 Microsteps and Microns (Micrometers)

All coordinates sent to and received from the controller are in microsteps. To convert
between microsteps and microns (micrometers), use the following conversion factors
(multipliers):

Table 4-2. Microns/microsteps conversion.

or

µsteps  µm 0.09375

ulator

micromanipulator;

e;

* DB25 to DB26HD adapter required for MP-245/M.

or

objective mover

or

µsteps  µm 0.125

For accuracy in your application, type these conversion factors as “double” (avoid using the
“float” type as it lacks precision with large values). When converting to microsteps, type the
result as a 32-bit “long”, “signed long”, or “I32” integer. When converting to microns, type
the result as “double” (64-bit double-precision floating-point values).

Table 4-3. Ranges and bounds

X, Y, & Z 0 – 25 0 – 25,000 0 – 266,667

or

* DB25 to DB26HD adapter required for MP-245/M.

NOTE: Origin is a physical position of travel that defines the center of the absolute position coordinate system (i.e., absolute
position 0).
Physical Positions: BOT (Beginning Of Travel), COT (Center Of Travel), & EOT (End Of Travel).
In the TRIO MP-245A, the Origin is fixed at BOT.

NOTE: Travel length of each axis is automatically determined by end-of-travel sensor.

stage;

or

X, Y, & Z 0 – 25 0 – 25,000 0 – 200,000

4.7 Commands

4.7.1 Get Current Position and Angle (‘c’ or ‘C’) Command

This command is used to obtain the current position (X, Y, & Z coordinates) of the
manipulator or stage and the current angle setting. The command sequence consists of one
byte as shown in the following table. The data received consists of fourteen bytes containing
X, Y, & Z position (32-bit) values in microsteps (4 bytes each), the angle in degrees (1 byte),
and the completion indicator (1 byte).

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28

Tx/-

Delay/-

Rx

Ver.

Total
Bytes

Byte
Offset
(Len.)

Value

Alt-

key-

pad #

Ctrl-

char

ASCII

def./­char.

Description

Dec.

Hex.

Binary

Tx

All

1 0 99

67

63

43

0110 0011

0100 0011

0099

0043

‘c’

‘C’

Command

Rx.

All

0 (4)

X pos. in µsteps

4 (4)

Y pos. in µsteps

8 (4)

Z pos. in µsteps

12

0

90

00

5A

0000 0000

0101 1010

<NUL>

‘z’

Angle in degrees

13

13

0D

0000 1101

^M

<CR>

Completion indicator

Tx/-

Delay/-

Rx

Ver.

Total
Bytes

Byte
Offset
(Len.)

Value

Alt-

key-

pad #

Ctrl-

char

ASCII

def./­char.

Description

Dec.

Hex.

Binary

Tx

All

1 0 104

68

0110 1000

0104

‘h’

Command

Rx

All

1 0 13

0D

0000 1101

<CR>

Completion indicator

Tx/-

Delay/-

Rx

Ver.

Total
Bytes

Byte
Offset
(Len.)

Value

Alt-key-

pad #

Ctrl-

char

ASCII

def./­char.

Description

Dec.

Hex.

Binary

Tx

1 0 119

77

0111 0111

0119

‘w’

Command

Rx

1 0 13

0D

0000 1101

<CR>

Completion indicator

Table 4-4. Get Current Position and Angle (‘c’ or ‘C’) command.

or

-

or

-

or

-

or

or

-

4.7.2 Move to Controller-Defined HOME Position (‘h’) Command

moves to the position saved by the controller’s HOME button. X & Z move first (angle
determines order and simultaneity), and Y last.Table 4-5. Move to controller-defined HOME position

(‘h’) command.

4.7.3 Move to Controller-Defined WORK Position (‘w’) Command

moves to the position saved by the controller’s WORK button. Y moves first, and X & Z last
(angle determines order/simultaneity)Table 4-6. Move to controller -defined WORK position (‘w’)

command.

4.7.4 Move to Specified “Home” Position (‘H’) Command

This command instructs the controller to move all 3 axes to specified position, moving X & Z
(angle determines order/simultaneity), and

Y last (see

Ranges

table).

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29

Tx/-

Delay/-

Rx

Ver.

Total
Bytes

Byte
Offset
(Len.)

Value

Alt-key-

pad #

Ctrl-

char

ASCII

def./­char.

Description

Dec.

Hex.

Binary

Tx

All

13 0 72

48

0100 1000

0072

‘H’

Command

1 (4)

X µsteps

5 (4)

Y µsteps

9 (4)

Z µsteps

Rx

All

1 0 13

0D

0000 1101

^M

<CR>

Completion indicator

Tx/-

Delay/-

Rx

Ver.

Total
Bytes

Byte
Offset
(Len.)

Value

Alt-key-

pad #

Ctrl-

char

ASCII

def./­char.

Description

Dec.

Hex.

Binary
Tx

All

13 0 87

57

0101 0111

0087

‘W’

Command

1 (4)

X µsteps

5 (4)

Y µsteps

9 (4)

Z µsteps

Rx

All

1 0 13

0D

0000 1101

^M

<CR>

Completion indicator

Tx/-

Delay/-

Rx

Ver.

Total
Bytes

Byte
Offset
(Len.)

Value

Alt-key-

pad #

Ctrl-

char

ASCII

def./­char.

Description

Dec.

Hex.

Binary

Tx

All

14 0 83

53

1001 0111

0083

‘S’

Command

1 15

0

0F

00

0000 1111

0000 0000

0015

0000

^O

^@

Speed (15 – 0 (fastest

2 (4)

X µsteps

6 (4)

Y µsteps

10(4)

Z µsteps

Rx

All

1 0 13

0D

0000 1101

^M

<CR>

Completion indicator

Table 4-7. Move to specified “Home” position (‘H’) command.

4.7.5 Move to Specified “Work” Position (‘W’) Command

This command instructs the controller to move all 3 axes to specified position, moving Y first,
and X & Z last (angle determines order/simultaneity) (see

Table 4-8. Move to specified “Work” position (‘W’) command.

Ranges

table).

4.7.6 Move in Straight Line to Specified Position at Specified Speed (‘S’) Command

This command instructs the controller to move all three axes simultaneously in a straight
line to specified position (see

Ranges

table). The command sequence consists of seventeen

bytes.

Table 4-9. Straight-line move to specified position (‘S’) command.

-

-

-

-

-

through slowest))

While all move commands cause movement to occur at a rate of 5,000 microns/second, the
“Straight-Line Move ‘S’ command is specified with one of sixteen speeds. Actual speed for the
can be determined with the following formula: (5000 / 16) * (sp +1), where 5,000 is the

TRIO MP-245A FOUR-AXIS MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 3.12B (20191001)

30

Speed Setting

(2nd Argument of ‘S’

Command Seq.)

mm/sec

or

µm/ms

µm/sec

or

nm/ms

nm/sec

in/sec

or

mil/ms

Percentage

of

Maximum

15

5.0000

5000.0

5000000

0.196850394

100.00%

14

4.6875

4687.5

4687500

0.184547244

93.75%

13

4.3750

4375.0

4375000

0.172244094

87.50%

12

4.0625

4062.5

4062500

0.159940945

81.25%

11

3.7500

3750.0

3750000

0.147637795

75.00%

10

3.4375

3437.5

3437500

0.135334646

68.75%

9

3.1250

3125.0

3125000

0.123031496

62.50%

8

2.8125

2812.5

2812500

0.110728346

56.25%

7

2.5000

2500.0

2500000

0.098425197

50.00%

6

2.1875

2187.5

2187500

0.086122047

43.75%

5

1.8750

1875.0

1875000

0.073818898

37.50%

4

1.5625

1562.5

1562500

0.061515748

31.25%

3

1.2500

1250.0

1250000

0.049212598

25.00%

2

0.9375

0937.5

937500

0.036909449

18.75%

1

0.6250

0625.0

625000

0.024606299

12.50%

0

0.3125

0312.5

312500

0.012303150

6.25%

Tx/-

Delay/-

Rx

Ver.

Total
Bytes

Byte
Offset
(Len.)

Value

Alt-key-

pad #

Ctrl-

char

ASCII

def./­char.

Description

Dec.

Hex.

Binary
Tx

All 1 0 3 03

0000 0011

0003

^C

<ETX>

Command

Rx

1 0

13

0D

0000 1101

<CR>

Completion indicator

maximum speed in microns/second and “sp” is the speed level 0 (slowest) through 15
(fastest). For mm/second or microns/millisecond, multiply result by 0.001.

Table 4-10. Straight-Line Move ‘S’ Command Speeds.

4.7.7 Interrupt Straight-Line Move (‘^C’) Command

This command interrupts a move in progress (only for moves initiated by the “Straight-line”
move (‘S’) command). The command sequence consists of one byte.

Table 4-11. Interrupt a straight-line move in progress (‘^C’) command.

4.7.8 Move to Specified X-Axis Position (‘x’ or ‘X’) Command

This command moves to a specified position for only the X-axis.

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31

Tx/-

Delay/-

Rx

Ver.

Total
Bytes

Byte
Offset
(Len.)

Value

Alt-

key-

pad #

Ctrl-

char

ASCII

def./­char.

Description

Dec.

Hex.

Binary

Tx

All 5 0

120

90

78

5A

0111 1000

0101 1010

0120

0090

‘x’

‘X’

Command

1 (4)

X µsteps

Rx

1 0

13

0D

0000 1101

<CR>

Completion indicator

Tx/-

Delay/-

Rx

Ver.

Total
Bytes

Byte
Offset
(Len.)

Value

Alt-

key-

pad #

Ctrl-

char

ASCII

def./­char.

Description

Dec.

Hex.

Binary

Tx

All 5 0

121

91

79

5B

0111 1001

0101 1011

0121

0091

‘y’

‘Y’

Command

1 (4)

Y µsteps

Rx

1 0

13

0D

0000 1101

<CR>

Completion indicator

Tx/-

Delay/-

Rx

Ver.

Total
Bytes

Byte
Offset
(Len.)

Value

Alt-

key-

pad #

Ctrl-

char

ASCII

def./­char.

Description

Dec.

Hex.

Binary

Tx

All 5 0

122

92

7A

5C

0111 1010

0101 1100

0122

0092

‘z’

‘Z’

Command

1 (4)

Z µsteps

Rx

1 0

13

0D

0000 1101

<CR>

Completion indicator

Table 4-12. Move to specified X-axis position (‘x’ or ‘X’) command.

or

or

or

or

or

4.7.9 Move to Specified Y-Axis Position (‘y’ or ‘Y’) Command

This command moves to a specified position for only the Y-axis.

Table 4-13. Move to specified Y-axis position (‘y’ or ‘Y’) command.

or

or

or

or

or

4.7.10 Move to Specified Z-Axis Position (‘z’ or ‘Z’) Command

This command moves to a specified position for only the Z-axis.

Table 4-14. Move to specified Z-axis position (‘z’ or ‘Z’) command.

or

or

or

or

or

4.7.11 Setting the Angle (‘A’) Command

Sets the angle value, in degrees, to match the angle position of the rotary dovetail

TRIO MP-245A FOUR-AXIS MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 3.12B (20191001)

32

Tx/-

Delay/-

Rx

Ver.

Total
Bytes

Byte
Offset
(Len.)

Value

Alt-

key-

pad #

Ctrl-

char

ASCII

def./­char.

Description

Dec.

Hex.

Binary

Tx

All 2 0

65

41

1010 1001

0065

‘A’

Command

1

0

90

00

5A

0000 0000

0101 1010

0000

0090

<NUL>

‘z’

Angle in degrees between 0 and

Movement

Rx

1 0

13

0D

0000 1101

<CR>

Completion indicator

Tx/-

Delay/-

Rx

Ver.

Total
Bytes

Byte
Offset
(Len.)

Value

Alt-

key-

pad #

Ctrl-

char

ASCII

def./­char.

Description

Dec.

Hex.

Binary

Tx

All 1 0

82

62

1000 0010

0082

‘R’

Command

Rx

1 0

13

0D

0000 1101

<CR>

Completion indicator

Table 4-15. Set the angle (‘A’) command.

-

-

-

-

-

90. See

Angle Setting &

note

4.7.12 Recalibrate (‘R’) Command

Recalibrates the connected micromanipulator/stage to 1,000 microns in each axis.

Table 4-16. Recalibrate (‘R’) command.

4.7.13 Notes

1. Task-Complete Indicator: All commands will send back to the computer the “Task­Complete Indicator” to signal the command and its associated function in controller is
complete. The indicator consists of one (1) byte containing a value of 13 decimal (0D
hexadecimal), and which represents an ASCII CR (Carriage Return).

2. Intercommand Delay: A short delay (usually around 2 ms) is recommended between
commands (after sending a command sequence and before sending the next command).

3. Clearing Send/Receive Buffers: Clearing (purging) the transmit and receive buffers of the
I/O port immediately before sending any command is recommended.

4. Positions in Microsteps: All positions sent to and received from the controller are in
microsteps (µsteps). See

Microns/-microsteps conversion

table) for conversion between

µsteps and microns (micrometers (µm)).

5. Ranges and Bounds: See

Ranges and Bounds

table for exact minimum and maximum
values for each axis of each compatible device that can be connected. All move commands
must include positive values only for positions – negative positions must never be
specified. All positions are absolute as measured from the physical beginning of travel of
a device’s axis. In application programming, it is important that positional values be
checked (>= 0 and <= max.) to ensure that a negative absolute position is never sent to
the controller and that end of travel is not exceeded. All computational relative
positioning must always resolve to accurate absolute positions.

6. Absolute Positioning System Origin: The Origin is set to a physical position of travel to
define absolute position 0. The physical Origin position is fixed at beginning of travel
(BOT). This means that all higher positions (towards end of travel (EOT)) are positive
values; there are no lower positions and therefore no negative values are allowed.

TRIO MP-245A FOUR-AXIS MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 3.12B (20191001)

33

7. Absolute vs. Relative Positioning: Current position (‘c’) and move commands always use
absolute positions. All positions can be considered “relative” to the Origin (Position 0),
but all are in fact absolute positions. Any position that’s considered to be “relative” to the
current position, whatever that might be, can be handled synthetically by external
programming. However, care should be taken to ensure that all relative positions are
accurately translated to correct absolute positions before initiating a move command.

8. Position Value Typing: All positions sent and received to and from the controller are in
microsteps and consist of 32-bit integer values (four contiguous bytes). Position values
can be either positive or negative, so type must be “signed”. Although each positional
value is transmitted to, or received from, the controller as a sequence of four (4)
contiguous bytes, for computer application computational and storage purposes each
should be typed as a signed integer (“long” or “signed long” in C/C++; “I32” in
LabVIEW, etc.). Note that in Python, incorporating the optional NumPy package brings
robust data typing like that used in C/C++ to your program, simplifying coding and
adding positioning accuracy to the application.

9. Position Value Bit Ordering: All 32-bit position values transmitted to, and received from,
the controller must be bit/byte-ordered in “Little Endian” format. This means that the
least significant bit/byte is last (last to send and last to receive). Byte-order reversal may
be required on some platforms. Microsoft Windows, Intel-based Apple Macintosh systems
running Mac OS X, and most Intel/AMD processor-based Linux distributions handle byte
storage in Little-Endian byte order so byte reordering is not necessary before converting
to/from 32-bit “long” values. LabVIEW always handles “byte strings” in “Big Endian”
byte order irrespective of operating system and CPU, requiring that the four bytes
containing a microsteps value be reverse ordered before/after conversion to/from a
multibyte type value (I32, U32, etc.). MATLAB automatically adjusts the endianess of
multibyte storage entities to that of the system on which it is running, so explicit byte
reordering is generally unnecessary unless the underlying platform is Big Endian. If your
development platform does not have built-in Little/Big Endian conversion functions, bit
reordering can be accomplished by first swapping positions of the two bytes in each 16-bit

half of the 32-bit value, and then swap positions of the two halves. This method
efficiently and quickly changes the bit ordering of any multibyte value between the two
Endian formats (if Big Endian, it becomes Little Endian, and if Little Endian, it becomes
then Big Endian).

10. Travel Lengths and Durations: “Move” commands might have short to long distances of
travel. If not polling for return data, an appropriate delay should be inserted between the
sending of the command sequence and reception of return data so that the next command
is sent only after the move is complete. This delay can be auto calculated by determining
the distance of travel (difference between current and target positions) and rate of travel.
This delay is not needed if polling for return data. In either case, however, an appropriate
timeout must be set for the reception of data so that the I/O does not time out before the
move is made and/or the delay expires.

11. Movement Speeds: All move commands cause movement to occur at a rate of 5,000
microns/second, except for the “Straight-Line Move ‘S’ command which can be specified
with one of sixteen speeds. Actual speed for the “Straight-Line Move ‘S’ command can be
determined with the following formula: (5000 / 16) * (sp +1), where 5,000 is the
maximum speed in microns/second and “sp” is the speed level 0 (slowest) through 15
(fastest). For mm/second or microns/millisecond, multiply result by 0.001.

TRIO MP-245A FOUR-AXIS MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 3.12B (20191001)

34

Speed

Setting

mm/sec

or

µm/ms

µm/sec

or

nm/ms

nm/sec

in/sec

or

mil/ms

% of

Max.

15

5.0000

5000.0

5000000

0.196850394

100.00%

14

4.6875

4687.5

4687500

0.184547244

93.75%

13

4.3750

4375.0

4375000

0.172244094

87.50%

12

4.0625

4062.5

4062500

0.159940945

81.25%

11

3.7500

3750.0

3750000

0.147637795

75.00%

10

3.4375

3437.5

3437500

0.135334646

68.75%

9

3.1250

3125.0

3125000

0.123031496

62.50%

8

2.8125

2812.5

2812500

0.110728346

56.25%

7

2.5000

2500.0

2500000

0.098425197

50.00%

6

2.1875

2187.5

2187500

0.086122047

43.75%

5

1.8750

1875.0

1875000

0.073818898

37.50%

4

1.5625

1562.5

1562500

0.061515748

31.25%

3

1.2500

1250.0

1250000

0.049212598

25.00%

2

0.9375

0937.5

937500

0.036909449

18.75%

1

0.6250

0625.0

625000

0.024606299

12.50%

Table 4-17. Straight-Line Move ‘S’ Command Speeds.

12. Move Interruption: A command should be sent to the controller for a manipulator only
after the task of any previous command is complete (i.e., the task-completion terminator
(CR) is returned associated). One exception is the “Interrupt Move” (^C) command,
which can be issued while an ‘S’ command-initiated move is still in progress.

13. Angle Setting & Movement: Although the set angle command allows for a range of 0° to
90°, the effective range that allows full movement is 1° to 89° (>0° and <90°). If 0° or 90°,
Z or X axis fails to move, causing single- and multi-axis movement commands to fail. The
ideal range for smooth movement is 10° to 80°. Factory default is 30°.

TRIO MP-245A FOUR-AXIS MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 3.12B (20191001)

35

5. MAINTENANCE

Routine cleaning of the TRIO MP-245A system is required to prevent excessive dust
accumulations. Wipe all exterior surfaces with a dry, soft, cotton cloth.

Periodically inspect all cables and connections to make sure that all connections are made
well and that all connectors are well and evenly seated.

6. RECONFIGURATION

6.1 Changing the Rotary Knob Functions on the ROE/Controller

The axis motor assignment of each axis control knob on the ROE can be changed by opening
the ROE/Controller cabinet as seen in the figure below and changing cables to appropriate
connectors.

Figure 6-1. Locations of the axis connectors inside the ROE/Controller

TRIO MP-245A FOUR-AXIS MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 3.12B (20191001)

36

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TRIO MP-245A FOUR-AXIS MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 3.12B (20191001)

37

APPENDIX A. LIMITED WARRANTY

 Sutter Instrument Company, a division of Sutter Instrument Corporation, limits the

warranty on this instrument to repair and replacement of defective components for two
years from date of shipment, provided the instrument has been operated in accordance
with the instructions outlined in this manual.

 Abuse, misuse, or unauthorized repairs will void this warranty.
 Warranty work will be performed only at the factory.
 The cost of shipment both ways is paid for by Sutter Instrument during the first three

months this warranty is in effect, after which the cost is the responsibility of the
customer.

 The limited warranty is as stated above and no implied or inferred liability for direct or

consequential damages is intended.

 An extended warranty for up to three additional years can be purchased at the time of

ordering, or until the original warranty expires. For pricing and other information, please
contact Sutter Instrument.

TRIO MP-245 MICROMANIPULATOR SYSTEM EXTERNAL CONTROL QUICK REFERENCE – REV. 3.12B (20191001)

38

W621 150

Ground cable

285204

4-inch dovetail extension

285210

Mounting adapter plate

225RBI

Rotating base

221165

Z-axis vertical extension

BR-AW

Rod holding clamp for XenoWorks® injectors (for rod OD 2-4mm)

MP-ROD

Rod holder (for rod OD 6.25 mm or larger

MP-RISER-0.5

½-inch riser*

MP-RISER-1.0

1-inch riser1

MT-78-FS

Large fixed-stage platform

MT-78-FS/M6

Large fixed-stage platform with M6 tapped holes

MT-75

Standard gantry-stand 8.7 to 13.4 in (22.1 to 34.1 cm)

MT-75S

Short gantry-stand 6.7 to 9.6 in (17.1 to 24.4 cm)

MT-75T

Tall gantry-stand 10.7 to 15.4 in (27.2 to 39.2 cm)

MT-75XT

Extra tall gantry-stand 14.7 to 18.5 in (37.4 to 47 cm)

APPENDIX B. ACCESSORIES

*

Risers can be combined to achieve desired height

TRIO MP-245A MICROMANIPULATOR SYSTEM QUICK REFERENCE – REV. 3.12B (20191001) (FW V3.12)

39

Controller Rear Panel Port

Connector/-Receptacle

Cable Connector Types

Connects to ...

Cable Type

Cable Max.

Length

Power Adapter

3-pin male connector

◄─3-pin power standard (female)

(Geographical region dependent)

Mains power

source.

10A, 250V,
with safety

ground plug

3 meters

(approx. 10

feet)

ROE/Controller Cabinet:

MANIPULATOR

(25-Pin DSUB female

receptacle)

DB-25 male

MP-8x5[S],

MP-245/M* or

MP-2x5M series,

Minimum of

26-awg
stranded wire
with 500 Volt.

3 meters

(approx. 10

feet)

Power Adapter

ROE/Controller

Cabinet: POWER

receptacle

(center pin

positive)

UL1185

18AWG

1.8 meters
(approx. 6

feet)

ROE/Controller Cabinet:

GROUND

(1-pin Banana-style female

receptacle)

Banana male

a ground/-earth

source (user

deter-mined)

ROE/Controller Cabinet:

USB

◄─A

─►B

Computer USB

port

APPENDIX C. TECHNICAL SPECIFICATIONS

Travel 25mm on X, Y, and Z axes

Resolution Minimal microstep size is 62.5 nanometers per

microstep. Display has single micron resolution.

Speed 5 mm/sec. maximum

Long Term Stability < 1 micron/hour drive mechanism

Electrical:

Power Adapter: Meanwell GS60A24-P1J

Input (mains) 100 - 240 VAC, 50/60 Hz, 1.4A

Output (to controller) 24V DC, 2.5A, 60W Max. (see following table for cable

specs)

System Power consumption 60-Watts maximum

Mains fuses None replaceable (power protection built into the

Power Adapter)

Cables (Refer to the following tables for a description of all

possible cables.)

Table C-1. TRIO MP-245A cables and receptacles/connectors.

│

3-pin male─►

◄─

│

DB-25 female─►

(Straight-through)

◄─(fixed)

│

ID 2.1 x OD 5.5 mm Barrel Plug

(male)─►

◄─

│

─►Alligator clip

(hooded)

* DB25 to DB26HD adapter required.

Dimensions:

TRIO MP-245A ROE/controller 5.5 x 7.5 x 4 in | 14 x 19 x 10.2cm

TRIO MP-245 MICROMANIPULATOR SYSTEM EXTERNAL CONTROL QUICK REFERENCE – REV. 3.12B (20191001)

│

40

Weight:

TRIO MP-245A ROE/controller 2.3 lbs. | 1.04 kg
TRIO MP-245/M micromanipulator 3.5 lbs. | 1.6 kg

TRIO MP-245A MICROMANIPULATOR SYSTEM QUICK REFERENCE – REV. 3.12B (20191001) (FW V3.12)

41

Movement Knobs Disabling and Lock (Quiet) Mode:
external movement command, or while in Lock Mode.

Axis Movement Order:

Rear-Panel DIP Switches

Table D-1. Configuration Switches (External) 1 – 6.

Sw #

Definition

State

Setting

Position

1

X-Axis Knob Rotation for
Forward (+) Movement

Clockwise

Off*

Up*

Counter

On

Down

2

Y-Axis Knob Rotation for
Forward (+) Movement

Clockwise

Off*

Up*

Counter

On

Down

3

Z-Axis Knob Rotation for
Forward (+) Movement

Clockwise

Off*

Up*

Counter

On

Down

4

D-Axis Knob Rotation for
Forward (+) Movement

Clockwise

Off*

Up*

Counter

On

Down

5

Y Axis Lock Out for
Homing

Enabled

Off

Up

Disabled

On*

Down*

6

Calibration Homing on
Power On **

None

Off

Up

Calibrate

On

Down*

** Switch 6 OFF (up) to retain axis positions on power-off.

Internal DIP Switches

Table D-2. Configuration Switches (Internal) 1 - 4

**** Contact Sutter Instrument tech. support for more information.

Sw #

Definition

State

Setting

Position

1

Reserved

Off*

Up*

2

Electromechanical device
compatibility ***

MP-x45[S]/M

Off*

Up*

MP-285/M

On

Down

3

Reserved

Off*

Up*

Linear/non-linear
manual movement ****

Off* Up

HOME:

WORK:

PULSE (ANGLE):

ANGLE

RELATIVE:

Relative

Absolute

SPEED (LOCK):

LOCK

D-Axis Movement (Synthetic

ANGLE SET

Setting Home, Work, or Relative Mode Origin Position: To set position, hold down

Screen-color mode indications:

LOCK

Z-Axis

Movement

Y-Axis

Movement

X-Axis

Movement

TRIO / MP-245A

1 2 3 4 5 6

1 2 3 4

Power Switch

USB Device Receptacle

Manipulator cable
connector

Ground/-Earth Post

Power Input Socket

Configuration
DIP Switches

Configuration
DIP Switches

APPENDIX D. QUICK REFERENCE

D.1. Manual Operation

Move to defined home position. Press again to pause/resume.
Move to defined work position. Press again to pause/resume.

Hold 3-sec. sets

Toggles between

Hold 3-sec. to set relative mode origin to current absolute position.

Cycles through Speed 0 (normal) through 3.

Hold 3 sec. for

Advances diagonal axis in 2.85 µm steps.

(active for 10 sec.): Knob D changes angle (1 – 89°).

and

position moves.

mode.

); select angle in degrees when in

mode.

HOME, WORK, or RELATIVE button for 3 seconds until beep sounds.

Green = Absolute position; Blue = Relative

position; Red = Movement in progress or in quiet (

) mode; knobs disabled.

Movement knobs are disabled during movement to Home, Work,

HOME: X & Z first, Y last. WORK: Y first. X & Z last.

X & Z movement precedence and simultaneity is determined by ANGLE setting: At 45°, movement is simultaneous; at
<45°, Z has precedence; at >45°, X has precedence.

D.2. Configuration

* Normal operation (factory default).

4

*** Switch 3 OFF (up) for MP-845[S]M & MP-245/M; ON (down) for
MP-285/M & related devices (3DMS, MT-78, MOM/SOM objective
movers).

TRIO MP-245 MICROMANIPULATOR SYSTEM EXTERNAL CONTROL QUICK REFERENCE – REV. 3.12B (20191001)

*

42

Property

Setting

Data (“Baud”) Rate (bits per second (bps))

57600

Data Bits

8

Stop Bits

1

Parity

None

Flow Control

None

D.3. External Control

Controlling the TRIO MP-245A externally via
computer is accomplished by sending commands
over the USB interface between the computer and
the USB connector on the rear panel of the TRIO
MP-245A controller/ROE. The USB device driver for
Windows is downloadable from Sutter Instrument’s
web site (www.sutter.com
requires Sutter Instrument’s USB CDM (Combined
Driver Model) Version 2.10.00 or higher. The CDM
device driver consists of two device drivers: 1) USB
device driver, and 2) VCP (Virtual COM Port) device
driver. Install the USB device driver first, followed
by the VCP device driver. The VCP device driver
provides a serial RS-232 I/O interface between a
Windows application and the TRIO MP-245A.
Although the VCP device driver is optional, its
installation is recommended even if it is not going to
be used. Once installed, the VCP can be enabled or
disabled.

The CDM device driver package provides two I/O
methodologies over which communications with the
controller over USB can be conducted: 1) USB
Direct (D2XX mode), or 2) Serial RS-232
asynchronous via the VCP device driver (VCP
mode). The first method requires that the VCP
device driver not be installed, or if installed, that it
be disabled. The second method requires that the
VCP be installed and enabled.

Virtual COM Port (VCP) Serial Port Settings: The
following table lists the required RS-232 serial
settings for the COM port (COM3, COM5, etc.)
generated by the installation or enabling of the VCP
device driver.

Table D-3. USB-VCP interface serial port settings.

). The TRIO MP-245A

Command Sequence Formatting: Each command
sequence consists of at least one byte, the first of
which is the “command byte”. Those commands
that have parameters or arguments require a
sequence of bytes that follow the command byte. No
delimiters are used between command sequence
arguments, and command sequence terminators are
not used. Although most command bytes can be
expressed as ASCII displayable/printable characters,
the rest of a command sequence must generally be
expressed as a sequence of unsigned byte values (0­255 decimal; 00 – FF hexadecimal, or 00000000 –
11111111 binary). Each byte in a command
sequence transmitted to the controller must contain
an unsigned binary value. Attempting to code
command sequences as “strings” is not advisable.
Any command data returned by the controller
should be initially treated as a sequence of unsigned
byte values upon reception. Groups of contiguous
bytes can later be combined to form larger values, as
appropriate (e.g., 2 bytes into 16-bit “word”, or 4
bytes into a 32-bit “long” or “double word”). For the
TRIO MP-245A, all axis position values (number of
microsteps) are stored as “unsigned long” 32-bit
positive-only values, and each is transmitted and
received to and from the controller as four
contiguous bytes.

Axis Position Command Parameters: All axis
positional information is exchanged between the
controller and the host computer in terms of
microsteps. Conversion between microsteps and
microns (micrometers) is the responsibility of the
software running on the host computer (see

Microns/microsteps conversion

table for conversion

factors).

The settings shown in the above table can be set in
the device driver’s properties (via the Device
Manager if in Windows) and/or programmatically in
your application.

Protocol and Handshaking: Command sequences do
not have terminators. All commands return an
ASCII CR (Carriage Return; 13 decimal, 0D
hexadecimal) to indicate that the task associated
with the command has completed. When the
controller completes the task associated with a
command, it sends ASCII CR back to the host
computer indicating that it is ready to receive a new
command. If a command returns data, the last byte
returned is the task-completed indicator.

TRIO MP-245A MICROMANIPULATOR SYSTEM QUICK REFERENCE – REV. 3.12B (20191001) (FW V3.12)

Microsteps are stored as positive 32-bit values
(“long” (or optionally, “signed long”), or “unsigned
long” for C/C++; “I32” or “U32” for LabVIEW).
“Unsigned” means the value is always positive;
negative values are not allowed. The positive-only
values can also be stored in signed type variables, in
which case care must be taken to ensure that only
positive values are exchanged with the controller.

The 32-bit value consists of four contiguous bytes,
with a byte/bit-ordering format of Little Endian
(“Intel”) (most significant byte (MSB) in the first
byte and least significant (LSB) in the last byte). If
the platform on which your application is running is
Little Endian, then no byte order reversal of axis
position values is necessary. Examples of platforms
using Little Endian formatting include any system
using an Intel/AMD processor (including Microsoft
Windows and Apple Mac OS X).

If the platform on which your application is running
is Big Endian (e.g., Motorola PowerPC CPU), then

43

TRIO MP-245A Controller

with Device

From/To

Units

Conversion Factor

(multiplier)

MP-845/M, MP-845S/M,
MP-245/M*

µsteps  µm

0.09375

µm  µsteps

10.66666666667

MP-285/M micromanipulator;
3DMS

MT-78

MOM

or SOM objective mover

Device

Axis

Len.

(mm)

Origin

Microns

(Micromet

ers (µm))

Microsteps

(µsteps)

MP-845/M,
MP-845S/M, or
MP-245/M*
micromanipulator

X, Y,

MP-285/M micro­manipul
3DMS

MT-78

stag

MOM
SOM
mover

X, Y,

Command

Tx/-

Delay/-

Rx

Ver.

Total

Bytes

Byte
Offset
(Len.)

Value

Alt-

key-

pad #

Ctrl-

char

ASCII

def./-

char.

Description

Dec.

Hex.

Binary

Get Current
Position and
Angle (‘c’ or
‘C’)

Tx

All 1 0

99

63

0110 0011

011

0099

‘c’

Returns the current positions
(µsteps)
angle setting (degrees).

Rx.

All

14

Three 4-byte (32-bit) values (current positions in µsteps of X, Y, & Z), + 1

minimum and maximum values.

0 (4)

X pos. in µsteps

4 (4)

Y pos. in µsteps

8 (4)

Z pos. in µsteps

12

Angle in degrees

13

13

0D

0000 1101

^M

<CR>

Completion indicator

Move to
HOME
Position (‘h’)

Tx

All 1 0

104

68

0110 1000

0104

‘h’

Moves to the position saved by the
co

X & Z
move
order/-simultaneity), and Y last.

Rx

All 1 0

13

0D

0000 1101

<CR>

Completion indicator

these 32-bit position values must have their bytes
reverse-ordered after receiving from, or before
sending to, the controller. Examples of Big-Endian
platforms include many non-Intel-based systems,
LabVIEW (regardless of operating system & CPU),
and Java (programming language/environment).
MATLAB and Python (script programming
language) are examples of environments that adapt
to the system on which each is running, so Little­Endian enforcement may be needed if running on a
Big-Endian system. Some processors (e.g., ARM) can
be configured for specific endianess.

Microsteps and Microns (Micrometers): All
coordinates sent to and received from the controller
are in microsteps. To convert between microsteps
and microns (micrometers), use the following
conversion factors (multipliers):

Table D-4. Microns/microsteps conversion.

stage;

or

µsteps  µm 0.125

µm  µsteps 8

micromanipulator

or

* DB25 to DB26HD adapter required for MP-245/M.

For accuracy in your application, type these
conversion factors as “double” (avoid using the
“float” type as it lacks precision with large values).

When converting to microsteps, type the result as a
32-bit “long”, “signed long”, or “I32” integer. When
converting to microns, type the result as “double”
(64-bit double-precision floating-point values).

Table D-5. Ranges and bounds.

25 BOT 0 – 25,000 0 – 266,667

Z

ator;

or

e;

objective

* DB25 to DB26HD adapter required for MP-245/M.

NOTE: Origin is a physical position of travel that defines the
center of the absolute position coordinate system (i.e., absolute
position 0).
Physical Positions: BOT (Beginning Of Travel), COT (Center Of
Travel), & EOT (End Of Travel).
In the TRIO MP-245A, the Origin is fixed at BOT.

NOTE: Travel length of each axis is automatically determined by
end-of-travel sensor.

or

25 BOT 0 – 25,000 0 – 200,000

Z

Command Reference: The following table lists all
the external-control commands for the TRIO MP­245A.

Table D-6. TRIO MP-245A external control commands.

or
67

or
43

or

0100 0

or

0043

or

‘C’

byte for angle, & + 1 byte for completion indicator. See Ranges table for

of X, Y, & Z axes and

ntroller’s HOME button.

first (angle determines

TRIO MP-245A FOUR-AXIS MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 3.12B (20191001)

44

Command

Tx/-

Delay/-

Rx

Ver.

Total

Bytes

Byte
Offset
(Len.)

Value

Alt-

key-

pad #

Ctrl-

char

ASCII

def./-

char.

Description

Dec.

Hex.

Binary

Move to
WORK
Position (‘w’)

Tx

All 1 0

119

77

0111 0111

0119

‘w’

Moves to the position saved by the
co
moves

X & Z

determines order/simultaneity)

Rx

All 1 0

13

0D

0000 1101

<CR>

Completion indicator

Move to
Specified
“Home”
Position (‘H’)

Tx

All

13 0 72

48

0100 1000

0072

‘H’

Move all 3 axes to specified
pos

X & Z
dete
and Y last (see

Ranges

table).

1 (4)

X µsteps

5 (4)

Y µsteps

9 (4)

Z µsteps

Rx

All 1 0

13

0D

0000 1101

^M

<CR>

Completion indicator

Move to
Specified
“Work”
Position (‘W’)

Tx

All

13 0 87

57

0101 0111

0087

‘W’

Move all 3 axes to specified
pos

X &
Z
o
table).

1 (4)

X µsteps

5 (4)

Y µsteps

9 (4)

Z µsteps

Rx

All 1 0

13

0D

0000 1101

^M

<CR>

Completion indicator

Move in
Straight Line
to Specified
Position at
Specified
Speed (‘S’)

Tx

All

14 0 83

53

1001 0111

0083

‘S’

Move all three axes
simultan
to specified position
table)

1 15

0

0F

00

0000 1111

0000 0000

0015

0000

^O

^@

Speed (15 – 0 (fastest through
slo

2 (4)

X µsteps

6 (4)

Y µsteps

10(4)

Z µsteps

Rx

All 1 0

13

0D

0000 1101

^M

<CR>

Completion indicator

Interrupt
Straight-Line
Move (^C)

Tx

All 1 0 3 03

0000 0011

0003

^C

<ETX>

Interrupts a move in progress
(only for moves initiated by the
“Straight
command)

Rx

All 1 0

13

0D

0000 1101

<CR>

Completion indicator

Move to
specified X
axis Position
(‘x’ or ‘X’)

Tx

All 5 0

120

90

78

5A

0111 1000

0101 1010

0120

0090

‘x’

‘X’

Move X axis to specified position
(see

1 (4)

X µsteps

Rx

All 1 0

13

0D

0000 1101

<CR>

Completion indicator

Move to
specified Y
axis Position
(‘y’ or ‘Y’)

Tx

All 5 0

121

91

79

5B

0111 1001

0101 1011

0121

0091

‘y’

‘Y’

Move Y axis to specified position
(see

1 (4)

Y µsteps

Rx

All 1 0

13

0D

0000 1101

<CR>

Completion indicator

ntroller’s WORK button. Y

first, and

last (angle

-

-

-

-

-

ition, moving

(angle

rmines order/simultaneity),

ition, moving Y first, and

last (angle determines

rder/simultaneity) (see

eously in a straight line

(see

west))

Ranges

Ranges

-line” move (‘S’)

or

or

or

or

TRIO MP-245A MICROMANIPULATOR SYSTEM QUICK REFERENCE – REV. 3.12B (20191001) (FW V3.12)

or

or

or

or

or

or

Ranges

Ranges

table)

table)

45

Command

Tx/-

Delay/-

Rx

Ver.

Total

Bytes

Byte
Offset
(Len.)

Value

Alt-

key-

pad #

Ctrl-

char

ASCII

def./-

char.

Description

Dec.

Hex.

Binary

Move to
specified Z
axis Position
(‘z’ or ‘Z’)

Tx

All 5 0

122

92

7A

5C

0111 1010

0101 1100

0122

0092

‘z’

‘Z’

Move Z-axis to specified position
(see

1 (4)

Z µsteps

Rx

All 1 0

13

0D

0000 1101

<CR>

Completion indicator

Enter Angle
(‘A’)

Tx

All 2 0

65

41

1010 1001

0065

‘A’

Sets the angle value, in degrees,
to mat
rotary dovetail

1 0

00

0000 0000

0101

0000

<NUL>

Angle in degrees between 0 and

90.

Movement

note

Rx

All 1 0

13

0D

0000 1101

<CR>

Completion indicator

Recalibrate
(‘R’)

Tx

2.62 1 0

82

62

1000 0010

0082

‘R’

Causes manipulator to recalibrate

Rx

2.62 1 0

13

0D

0000 1101

<CR>

Completion indicator

NOTES:

1. Task-Complete Indicator: All commands will send back to
the computer the “Task-Complete Indicator” to signal the
command and its associated function in controller is
complete. The indicator consists of one (1) byte containing a
value of 13 decimal (0D hexadecimal), and which represents
an ASCII CR (Carriage Return).

2. Intercommand Delay: A short delay (usually around 2 ms) is
recommended between commands (after sending a
command sequence and before sending the next command).

3. Clearing Send/Receive Buffers: Clearing (purging) the
transmit and receive buffers of the I/O port immediately
before sending any command is recommended.

4. Positions in Microsteps: All positions sent to and received
from the controller are in microsteps (µsteps). See

microsteps conversion

and microns (micrometers (µm)).

5. Ranges and Bounds: See
minimum and maximum values for each axis of each
compatible device that can be connected. All move
commands must include positive values only for positions –
negative positions must never be specified. All positions are
absolute as measured from the physical beginning of travel
of a device’s axis. In application programming, it is
important that positional values be checked (>= 0 and <=
max.) to ensure that a negative absolute position is never
sent to the controller and that end of travel is not exceeded.
All computational relative positioning must always resolve
to accurate absolute positions.

6. Absolute Positioning System Origin: The Origin is set to a
physical position of travel to define absolute position 0. The
physical Origin position is fixed at beginning of travel
(BOT). This means that all higher positions (towards end of
travel (EOT)) are positive values; there are no lower
positions and therefore no negative values are allowed.

7. Absolute vs. Relative Positioning: Current position (‘c’) and
move commands always use absolute positions. All positions
can be considered “relative” to the Origin (Position 0), but
all are in fact absolute positions. Any position that’s
considered to be “relative” to the current position, whatever
that might be, can be handled synthetically by external
programming. However, care should be taken to ensure that
all relative positions are accurately translated to correct
absolute positions before initiating a move command.

TRIO MP-245A FOUR-AXIS MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 3.12B (20191001)

or

or

-

90

-

5A

Microns/-

table) for conversion between µsteps

Ranges and Bounds

table for exact

or

or

or

Ranges

table)

ch the angle position of the

­1010

-

0090

8. Position Value Typing: All positions sent and received to
and from the controller are in microsteps and consist of 32­bit integer values (four contiguous bytes). Position values
can be either positive or negative, so type must be “signed”.
Although each positional value is transmitted to, or received
from, the controller as a sequence of four (4) contiguous
bytes, for computer application computational and storage
purposes each should be typed as a signed integer (“long” or
“signed long” in C/C++; “I32” in LabVIEW, etc.). Note that
in Python, incorporating the optional NumPy package
brings robust data typing like that used in C/C++ to your
program, simplifying coding and adding positioning
accuracy to the application.

9. Position Value Bit Ordering: All 32-bit position values
transmitted to, and received from, the controller must be
bit/byte-ordered in “Little Endian” format. This means that
the least significant bit/byte is last (last to send and last to
receive). Byte-order reversal may be required on some
platforms. Microsoft Windows, Intel-based Apple Macintosh
systems running Mac OS X, and most Intel/AMD processor­based Linux distributions handle byte storage in Little­Endian byte order so byte reordering is not necessary before
converting to/from 32-bit “long” values. LabVIEW always
handles “byte strings” in “Big Endian” byte order
irrespective of operating system and CPU, requiring that
the four bytes containing a microsteps value be reverse
ordered before/after conversion to/from a multibyte type
value (I32, U32, etc.). MATLAB automatically adjusts the
endianess of multibyte storage entities to that of the system
on which it is running, so explicit byte reordering is
generally unnecessary unless the underlying platform is Big
Endian. If your development platform does not have built-in
Little/Big Endian conversion functions, bit reordering can
be accomplished by first swapping positions of the two bytes
in each 16-bit half of the 32-bit value, and then swap
positions of the two halves. This method efficiently and
quickly changes the bit ordering of any multibyte value
between the two Endian formats (if Big Endian, it becomes
Little Endian, and if Little Endian, it becomes then Big
Endian).

10. Travel Lengths and Durations: “Move” commands might
have short to long distances of travel. If not polling for
return data, an appropriate delay should be inserted
between the sending of the command sequence and

-

‘z’

See

Angle Setting &

46

Speed

Setting

mm/sec

or

µm/ms

µm/sec

or

nm/ms

nm/sec

in/sec

or

mil/ms

% of

Max.

15

5.0000

5000.0

5000000

0.196850394

100.00%

14

4.6875

4687.5

4687500

0.184547244

93.75%

13

4.3750

4375.0

4375000

0.172244094

87.50%

12

4.0625

4062.5

4062500

0.159940945

81.25%

11

3.7500

3750.0

3750000

0.147637795

75.00%

10

3.4375

3437.5

3437500

0.135334646

68.75%

Speed

Setting

mm/sec

or

µm/ms

µm/sec

or

nm/ms

nm/sec

in/sec

or

mil/ms

% of

Max.

9

3.1250

3125.0

3125000

0.123031496

62.50%

8

2.8125

2812.5

2812500

0.110728346

56.25%

7

2.5000

2500.0

2500000

0.098425197

50.00%

6

2.1875

2187.5

2187500

0.086122047

43.75%

5

1.8750

1875.0

1875000

0.073818898

37.50%

4

1.5625

1562.5

1562500

0.061515748

31.25%

3

1.2500

1250.0

1250000

0.049212598

25.00%

2

0.9375

0937.5

937500

0.036909449

18.75%

1

0.6250

0625.0

625000

0.024606299

12.50%

reception of return data so that the next command is sent
only after the move is complete. This delay can be auto
calculated by determining the distance of travel (difference
between current and target positions) and rate of travel.
This delay is not needed if polling for return data. In either
case, however, an appropriate timeout must be set for the
reception of data so that the I/O does not time out before the
move is made and/or the delay expires.

11. Movement Speeds: All move commands cause movement to
occur at a rate of 5,000 microns/second, except for the
“Straight-Line Move ‘S’ command which can be specified
with one of sixteen speeds. Actual speed for the “Straight­Line Move ‘S’ command can be determined with the
following formula: (5000 / 16) * (sp +1), where 5,000 is the
maximum speed in microns/second and “sp” is the speed
level 0 (slowest) through 15 (fastest). For mm/second or
microns/millisecond, multiply result by 0.001.

Table D-7. Straight-Line Move ‘S’ Command Speeds.

12. Move Interruption: A command should be sent to the
controller for a manipulator only after the task of any
previous command is complete (i.e., the task-completion
terminator (CR) is returned associated). One exception is
the “Interrupt Move” (^C) command, which can be issued
while an ‘S’ command-initiated move is still in progress.

13. Angle Setting & Movement: Although the set angle
command allows for a range of 0° to 90°, the effective range
that allows full movement is 1° to 89° (>0° and <90°). If 0°
or 90°, Z or X axis fails to move, causing single- and multi­axis movement commands to fail. The ideal range for
smooth movement is 10° to 80°. Factory default is 30°.

NOTES:

TRIO MP-245A MICROMANIPULATOR SYSTEM QUICK REFERENCE – REV. 3.12B (20191001) (FW V3.12)

47

INDEX

[

[SPEED]/LOCK button ....................................... 25

A

accessories ............................................................. 42

C

cleaning .................................................................. 39

configuration ......................................................... 45

Configuration ........................................................ 15

Configuration switches ........................................ 16

Controls

TRIO MP-245A ................................................. 15

Power switch ................................................. 15

D

disclaimer ................................................................. 3

E

Electrical Connections ......................................... 14

external control

Move to specified ............................................... 31

external control

axis position command parameters ................ 28

command sequence formatting ....................... 28

microsteps and microns (micrometers) .......... 29

protocol and handshaking................................ 27

Virtual COM Port (VCP) serial port settings 27

external control

Move in straight line to specified position at

specified speed (‘S’) command ..................... 31

external control

Interrupt straight-line move (‘^C’) command

........................................................................ 32

external control

Move to specified X-axis position command ... 33

external control

Move to specified Y-axis position command ... 33

external control

Move to specified Z-axis position command ... 33

external control

Setting the angle (‘A’) command..................... 34

external control

Recalibrate (‘R’) command .............................. 34

external control

notes ................................................................... 34

external control

task-complete indicator .................................... 34

external control

intercommand delay ......................................... 34

external control

clearing send/receive buffers ........................... 35

external control

positions in microsteps ..................................... 35

external control

ranges and bounds ............................................ 35

external control

absolute positioning system origin .................. 35

external control

absolute vs. relative positioning ...................... 35

external control

position value typing ........................................ 35

external control

position value bit ordering ............................... 35

external control

travel lengths and durations............................ 36

external control

movement speeds .............................................. 36

external control

move interruption ............................................. 36

external control

angle setting & movement ............................... 37

external control

Virtual COM Port (VCP) serial port settings 46

external control

protocol and handshaking................................ 46

external control

axis position command parameters ................ 46

external control

microsteps and microns (micrometers) .......... 47

external control

task-complete indicator .................................... 49

external control

intercommand delay ......................................... 49

external control

clearing send/receive buffers ........................... 49

external control

positions in microsteps ..................................... 49

external control

ranges and bounds ............................................ 49

external control

absolute positioning system origin .................. 49

external control

absolute vs. relative positioning ...................... 49

external control

position value typing ........................................ 49

external control

position value bit ordering ............................... 49

external control

TRIO MP-245A FOUR-AXIS MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 3.12B (20191001)

48

travel lengths and durations............................ 50

external control

movement speeds .............................................. 50

external control

move interruption ............................................. 50

external control

angle setting & movement ............................... 50

external control commands

‘^C’ command ................................................. 32

‘A’ command ..................................................... 34

‘c’ command ...................................................... 29

‘C’ command ..................................................... 29

‘h’ command ...................................................... 30

‘H’ command ..................................................... 30

‘R’ command ..................................................... 34

‘S’ command ...................................................... 31

‘w’ command ..................................................... 30

‘W’ command .................................................... 31

‘x’ command ...................................................... 33

‘X’ command ..................................................... 33

‘y’ command ...................................................... 33

‘Y’ command ..................................................... 33

‘z’ command ...................................................... 33

‘Z’ command ...................................................... 33

Get Current Position ........................................ 29

Move to specified ............................................... 30

notes ................................................................... 34

Switch 3 Reserved ..................................... 18

Switch 4 Linear/nonlinear manual

operation ................................................ 18

internal configuration Switch 2

electromechanical type

internal configuration switches ................... 17

linear/nonlinear manual operation ............. 18

reserved configuration switches ............ 17, 18

ROE/Controller rear panel controls and

configuration ................................................. 15

configuration switches ................................. 16

knob rotation directionality for forward

(+) movement ....................................... 16

locking out Y-movement homing ............ 16

sensor test

setting axis directionality ......................... 16

power switch ................................................. 15

TRIO MP-245/M mounting ............................. 13

Installation ............................................................ 13

Internal configuration switches .......................... 17

Introduction

Components ...................................................... 10

Overview

Description .................................................... 10

Features ......................................................... 10

Overview ............................................................ 10

Introduction ............................................................. 9

.................................................. 17

............................. 18

F

fuses, mains ........................................................... 43

fuses, replacement

mains ..................................................................... 3

G

glassware

precautions ........................................................... 4

H

headstage Exchange ............................................. 26

HOME button (while moving to Home) ............. 25

I

input

voltage ................................................................ 43

Installation

electrical connections ....................................... 14

General .............................................................. 13

headstage mounting ......................................... 14

initial operating instructions ........................... 14

other accessories ............................................... 14

ROE/Controller controls and configuration

configuration switches (internal)

Switch 1 Reserved ..................................... 17

L

Locking out Y-movement homing ....................... 16

M

mains

fuses ............................................................... 3, 43

voltage ................................................................ 43

Maintenance .......................................................... 39

manual operation .................................................. 45

Micropipette Exchange ........................................ 26

Mounting

headstage ........................................................... 14

O

Operations

control operations ............................................. 22

headstage exchange ...................................... 26

maximum positive position values .............. 22

micropipette exchange ................................. 26

mode indications ........................................... 25

movement knobs disabling and LOCK Mode

.................................................................... 25

moving to the Home Position ...................... 23

moving to the Work Position ....................... 24

pausing Home movements .......................... 25

TRIO MP-245A MICROMANIPULATOR SYSTEM QUICK REFERENCE – REV. 3.12B (20191001) (FW V3.12)

49

pausing Work movements ........................... 25

Pulse Mode and diagonal movement .......... 25

ROE axis knob movement speed control ... 25
setting Absolute/Relative coordinates mode

.................................................................... 24

setting position for HOME and WORK ...... 22

setting the angle of the pipette/headstage

holder ......................................................... 22

display ................................................................ 21

initial startup ................................................ 21

Q

quick reference ...................................................... 45

configuration ..................................................... 45

manual operation .............................................. 45

R

Reconfiguration .................................................... 39

changing rotary knob functions on the ROE . 39

Reserved configuration switches (internal) 1 & 3

...................................................................... 17, 18

S

safety warnings

mains fuse............................................................. 3

safety warnings & precautions

operational ............................................................ 4

SAFETY WARNINGS & PRECAUTIONS .......... 3

electrical ................................................................ 3

Sensor test

............................................................. 17

Setting axis directionality .................................... 16

Setting axis knob rotation directionality for

forward (+) movement .................................... 16

SPEED button ...................................................... 25

T

technical specifications ......................................... 43

dimensions......................................................... 44

drift .................................................................... 43

electrical ............................................................. 43

cables .............................................................. 43

mains fuses .................................................... 43

power adapter ............................................... 43

input (mains) ............................................. 43

output (to controller) ................................ 43

system power consumption ......................... 43

resolution ........................................................... 43

speed .................................................................. 43

travel .................................................................. 43

weight ................................................................ 44

V

voltage

input ................................................................... 43

mains .................................................................. 43

W

warranty ................................................................ 41

WORK button (while moving to Work) .............. 25

NOTES:

TRIO MP-245A FOUR-AXIS MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 3.12B (20191001)

50

NOTES:

TRIO MP-245A MICROMANIPULATOR SYSTEM QUICK REFERENCE – REV. 3.12B (20191001) (FW V3.12)